COLD AS ICE: Charles Ann, accused of fatally mowing down his girlfriend, is taken from Queens court yesterday and extradited to Jersey. Photo: James Messerschmidt

The son of Robert F. Kennedy was arrested Thursday for a January confrontation with two nurses at a Westchester hospital, his attorney said.

Douglas Kennedy, 44, tried to take his newborn baby from the maternity unit and ignored the instructions of the nurses, according to a Mount Kisco police report obtained by WNBC/Channel 4.

Police would not discuss the incident last night, but NBC reported that cops said he grabbed the wrist of a nurse who blocked his way out and twisted it so he could enter a stairwell. He also allegedly kicked another nurse, knocking her to the floor, cops reportedly said.

Last night Kennedy denied the allegations and said a doctor gave him permission to take his baby out for a walk.

“She tried to grab the baby from my arms,” Kennedy told The Post. “I was shocked and was simply trying to protect my son.”

The incident took place Jan. 7 at about 7 p.m. The nurses later filed a criminal complaint against Kennedy and he was arrested and arraigned Thursday.

“We are confident that the Westchester district attorney, once she is able to evaluate all the evidence, will dismiss these charges,” said Robert Gottlieb, Kennedy’s attorney. “The reason it’s clear that this is a money grab is that within days they had hired a personal-injury lawyer.”

Kennedy was charged with harassment and endangering the welfare of a child.